Pilz PRBT 6 - Stopping Time in the Event of a Complete Stop

Function description
System Description Service Robotics Modules
1004870-EN-05
| 60
4.12 Stopping time in the event of a complete stop
A complete stop includes the time t
stopping_STOP1_100
plus the brake engagement time t
Brake
. The
brake engagement time t
Brake
is the time from the moment the STO signal on the robot arm
is reset until the moment at which all brakes are engaged.
t
complete_stopping
= t
stopping_STOP1_100
+ t
Brake
The following values are used to calculate t
complete_stopping
:
} Stopping time at maximum speed: t
stopping_STOP1_100
= 235.02ms
(see Stopping time and stopping distance in the event of STOP1 [ 59])
} Brake engagement time: t
Brake
= 80ms
(see technical details in the operating manual for the robot arm)
t
complete_stopping
= 315ms